Image 1 - An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research - low cost and low complexity actuator module - build different types of torque controlled robot

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Quadruped Solo

Creator: Open Dynamic Robot Initiative

Country: N/A

Summary

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research - low cost and low complexity actuator module - build different types of torque controlled robot

Status: Research, Startup, Commercially available

Operation: Other

Robot Type / Domain: Research

Tasks: Legged Locomotion Research

Learn More

For more info please refer to https://open-dynamic-robot-initiative.github.io/

This project originated in an effort to build a low cost and low complexity actuator module using brushless motors that can be used to build different types of torque controlled robots with mostly 3D printed and off-the-shelves components. This module, and extensions, can be used to build legged robots or manipulators.

Build your own robot!

All the hardware (drawings) and software has been open sourced under the BSD 3-clause license so the robots can easily be reproduced by other research laboratories. Everyone is welcomes to contribute to the project!

All the sources are hosted on the Open Dynamic Robot Initiative Github site

The sources for the mechanics and electronics are available in the Open Robot Actuator Hardware Repository and contains the actuator module, the one legged-robot, the quadruped Solo, the foot contact sensor and the electronics described in the paper An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
A general software overview and documentation for the projects is available in the Open Dynamic Robot Initiative Software Documentation The main software is available in several libraries.

Partners

This work is done in collaboration between the Motion Generation and Control Group, the Dynamic Locomotion Group and the Robotics Central Scientific Facility at the Max-Planck Institute for Intelligent System , the Machines in Motion Laboratory at New York University's Tandon School of Engineering and the Gepetto Team at the LAAS/CNRS.

Read more on https://open-dynamic-robot-initiative.github.io/

Technical Specifications

Min. Size: 420L 330W 50H (mm)

Min. Size: 16.535L 12.992W 1.969H (in)

Max. Size: 420L 330W 340H (mm)

Max. Size: 16.535L 12.992W 13.386H (in)

Max. Payload: N/A

Weight: 2.2 kg

Weight: 4.850 lbs

Max. Locomotion Speed: N/A

Max. Slope: N/A

Battery Operated? N/A

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Gaits: Other

Number of Legs: 4

DOFs per Leg: 2

DOFs per Arm/Manipulator: N/A

DOFs (total): 8

Manipulation: N/A

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

Show more specs

Sensors: Foot Contact Sensor

Controller & Computing: TI micro-controller evaluation boards equipped with two BLDC booster cards each. Texas Instruments micro-controller (TMS320F28069M) and two brushless motor driver chips (DRV8305) on a single six-layer printed circuit board

Material: 3D printed

Actuators: brushless motor (T- Motor Antigravity 4004, 300KV), a 9:1 dual-stage timing belt transmission (Conti Synchroflex AT3 GEN III), a high- resolution optical encoder (Avago AEDM 5810) and a 5000 count-per-revolution code wheel

Data Transmission / Communication: CAN port; an ESP32, a dual core 240 MHz Xtensa LX6 SoC with Wifi and Ethernet interface

No more specs to show.

Please visit the official website for more accurate, up-to-date, and complete information on this post. Visit Website

References

Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., Fiene, J., Badri-Spröwitz, A., & Righetti, L. (2020). An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. IEEE Robotics and Automation Letters, 5(2), 3650-3657. doi:10.1109/LRA.2020.2976639.

https://arxiv.org/pdf/1910.00093.pdf

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